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Swing up and stabilization of rotary inverted pendulum by using on-off type of cold gas thruster actuators
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Date
2019
Author
Silik, Yusuf
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In this study, swing up and stabilization of on/off type of cold gas thruster driven inverted pendulum is accomplished. First, pulse width modulator (PWM) design method is generated to obtain quasi-linear thrust output from on/off type of thruster. Than, single axis angle controller is designed. Designed angle controller and PWM scheme are tested and verified on single axis angle control test setup. Finally, an other freedom is attached to single axis test setup and rotary inverted pendulum (Furuta Pendulum) is obtained. By this way inherently unstable, under-actuated and on/off driven system is obtained. For swing up motion, energy method is applied. Balancing of the pendulum is achieved by observer based state feedback controller under small angle assumption and quasi-linear output from PWM driven thrusters.
Subject Keywords
Cold gas thruster.
,
Rotary Inverted Pendulum
,
Furuta Pendulum
,
Cold Gas Thruster
,
Pulse Width Modulation.
URI
http://etd.lib.metu.edu.tr/upload/12624326/index.pdf
https://hdl.handle.net/11511/44521
Collections
Graduate School of Natural and Applied Sciences, Thesis
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Y. Silik, “Swing up and stabilization of rotary inverted pendulum by using on-off type of cold gas thruster actuators,” Thesis (M.S.) -- Graduate School of Natural and Applied Sciences. Mechanical Engineering., Middle East Technical University, 2019.
